五连杆三维双足步行器中的功能不对称性。
Functional asymmetry in a five-link 3D bipedal walker.
作者信息
Gregg Robert D, Dhaher Yasin, Lynch Kevin M
机构信息
Department of Mechanical Engineering and the Rehabilitation Institute of Chicago, Northwestern University, Evanston, IL 60208, USA.
出版信息
Annu Int Conf IEEE Eng Med Biol Soc. 2011;2011:7820-3. doi: 10.1109/IEMBS.2011.6091927.
This paper uses a symmetrical five-link 3D biped model to computationally investigate the cause, function, and benefit of gait asymmetry. We show that for a range of mass distributions, this model has asymmetric walking patterns between the left and right legs, which is due to a phenomenon known as period-doubling bifurcation. The ground reaction forces of each leg reflect different roles, roughly corresponding to support, propulsion, and motion control as proposed by the hypothesis of functional asymmetry in human walking. These results suggest that natural mechanics could be responsible for asymmetry in able-bodied walking, rather than neurophysiological mechanisms such as leg dominance.
本文使用一个对称的五连杆三维双足模型，通过计算研究步态不对称的原因、功能和益处。我们表明，对于一系列质量分布，该模型左右腿之间存在不对称的行走模式，这是由于一种称为倍周期分岔的现象所致。每条腿的地面反作用力反映了不同的作用，大致对应于人类行走功能不对称假说所提出的支撑、推进和运动控制。这些结果表明，自然力学可能是导致健全人行走不对称的原因，而不是诸如腿部优势等神经生理机制。
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